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<div class="title">vfh.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
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<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_FEATURES_IMPL_VFH_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_FEATURES_IMPL_VFH_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/vfh.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/features/pfh_tools.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="centroid_8h.html">pcl/common/centroid.h</a>&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#ab0fd0c13700be5da8e25fd4291dc8009">   51</a></span>&#160;<a class="code" href="classpcl_1_1_v_f_h_estimation.html#ab0fd0c13700be5da8e25fd4291dc8009">pcl::VFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::initCompute</a> ()</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordflow">if</span> (input_-&gt;points.size () &lt; 2 || (surface_ &amp;&amp; surface_-&gt;points.size () &lt; 2))</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::VFHEstimation::initCompute] Input dataset must have at least 2 points!\n&quot;</span>);</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  }</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="keywordflow">if</span> (search_radius_ == 0 &amp;&amp; k_ == 0)</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    k_ = 1;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::initCompute</a> ());</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a8ad7f79ee618d1a6f9bca5d579c36130">   65</a></span>&#160;<a class="code" href="classpcl_1_1_v_f_h_estimation.html#a8ad7f79ee618d1a6f9bca5d579c36130">pcl::VFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordflow">if</span> (!initCompute ())</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 0;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="comment">// Copy the header</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> = input_-&gt;header;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="comment">// Resize the output dataset</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="comment">// Important! We should only allocate precisely how many elements we will need, otherwise</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="comment">// we risk at pre-allocating too much memory which could lead to bad_alloc </span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="comment">// (see http://dev.pointclouds.org/issues/657)</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = input_-&gt;is_dense;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (1);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="comment">// Perform the actual feature computation</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  computeFeature (output);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::deinitCompute</a> ();</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;}</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#a9603ed59b5af7e7f7750e8a96ac21563">   92</a></span>&#160;<a class="code" href="classpcl_1_1_v_f_h_estimation.html#a9603ed59b5af7e7f7750e8a96ac21563">pcl::VFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::computePointSPFHSignature</a> (<span class="keyword">const</span> Eigen::Vector4f &amp;centroid_p,</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                                                                             <span class="keyword">const</span> Eigen::Vector4f &amp;centroid_n,</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                                                                             <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                                                                             <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &amp;normals,</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                                                                             <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;{</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  Eigen::Vector4f pfh_tuple;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="comment">// Reset the whole thing</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  hist_f1_.setZero (nr_bins_f1_);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  hist_f2_.setZero (nr_bins_f2_);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  hist_f3_.setZero (nr_bins_f3_);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  hist_f4_.setZero (nr_bins_f4_);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="comment">// Get the bounding box of the current cluster</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="comment">//Eigen::Vector4f min_pt, max_pt;</span></div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">//pcl::getMinMax3D (cloud, indices, min_pt, max_pt);</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="comment">//double distance_normalization_factor = (std::max)((centroid_p - min_pt).norm (), (centroid_p - max_pt).norm ());</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="comment">//Instead of using the bounding box to normalize the VFH distance component, it is better to use the max_distance</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="comment">//from any point to centroid. VFH is invariant to rotation about the roll axis but the bounding box is not,</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  <span class="comment">//resulting in different normalization factors for point clouds that are just rotated about that axis.</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">double</span> distance_normalization_factor = 1.0;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordflow">if</span> (normalize_distances_) </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  {</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    Eigen::Vector4f max_pt;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <a class="code" href="group__common.html#ga1583a71aef0f54550adef0ebfef89edd">pcl::getMaxDistance</a> (cloud, indices, centroid_p, max_pt);</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    max_pt[3] = 0;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    distance_normalization_factor = (centroid_p - max_pt).norm ();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="comment">// Factorization constant</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordtype">float</span> hist_incr;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordflow">if</span> (normalize_bins_)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    hist_incr = 100.0f / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (indices.size () - 1);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    hist_incr = 1.0f;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordtype">float</span> hist_incr_size_component;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordflow">if</span> (size_component_)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    hist_incr_size_component = hist_incr;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    hist_incr_size_component = 0.0;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="comment">// Iterate over all the points in the neighborhood</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> idx = 0; idx &lt; indices.size (); ++idx)</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  {</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="comment">// Compute the pair P to NNi</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keywordflow">if</span> (!computePairFeatures (centroid_p, centroid_n, cloud.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[idx]].getVector4fMap (),</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                              normals.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[indices[idx]].getNormalVector4fMap (), pfh_tuple[0], pfh_tuple[1],</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                              pfh_tuple[2], pfh_tuple[3]))</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">// Normalize the f1, f2, f3, f4 features and push them in the histogram</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordtype">int</span> h_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_bins_f1_ * ((pfh_tuple[0] + M_PI) * d_pi_)));</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">if</span> (h_index &lt; 0)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      h_index = 0;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keywordflow">if</span> (h_index &gt;= nr_bins_f1_)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      h_index = nr_bins_f1_ - 1;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    hist_f1_ (h_index) += hist_incr;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    h_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_bins_f2_ * ((pfh_tuple[1] + 1.0) * 0.5)));</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">if</span> (h_index &lt; 0)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      h_index = 0;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordflow">if</span> (h_index &gt;= nr_bins_f2_)</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      h_index = nr_bins_f2_ - 1;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    hist_f2_ (h_index) += hist_incr;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    h_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_bins_f3_ * ((pfh_tuple[2] + 1.0) * 0.5)));</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">if</span> (h_index &lt; 0)</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      h_index = 0;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    <span class="keywordflow">if</span> (h_index &gt;= nr_bins_f3_)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      h_index = nr_bins_f3_ - 1;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    hist_f3_ (h_index) += hist_incr;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">if</span> (normalize_distances_)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      h_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (nr_bins_f4_ * (pfh_tuple[3] / distance_normalization_factor)));</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      h_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (pcl_round (pfh_tuple[3] * 100));</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordflow">if</span> (h_index &lt; 0)</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      h_index = 0;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    <span class="keywordflow">if</span> (h_index &gt;= nr_bins_f4_)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      h_index = nr_bins_f4_ - 1;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    hist_f4_ (h_index) += hist_incr_size_component;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;}</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_v_f_h_estimation.html#aed492d159e745303356149a340d9057f">  182</a></span>&#160;<a class="code" href="classpcl_1_1_v_f_h_estimation.html#aed492d159e745303356149a340d9057f">pcl::VFHEstimation&lt;PointInT, PointNT, PointOutT&gt;::computeFeature</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &amp;output)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;{</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="comment">// ---[ Step 1a : compute the centroid in XYZ space</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  Eigen::Vector4f xyz_centroid;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordflow">if</span> (use_given_centroid_) </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    xyz_centroid = centroid_to_use_;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">compute3DCentroid</a> (*surface_, *indices_, xyz_centroid);          <span class="comment">// Estimate the XYZ centroid</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="comment">// ---[ Step 1b : compute the centroid in normal space</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  Eigen::Vector4f normal_centroid = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  <span class="keywordtype">int</span> cp = 0;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keywordflow">if</span> (use_given_normal_)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    normal_centroid = normal_to_use_;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    <span class="keywordflow">if</span> (normals_-&gt;is_dense)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        normal_centroid += normals_-&gt;points[(*indices_)[i]].getNormalVector4fMap ();</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        cp++;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      {</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="keywordflow">if</span> (!pcl_isfinite (normals_-&gt;points[(*indices_)[i]].normal[0])</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            ||</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;            !pcl_isfinite (normals_-&gt;points[(*indices_)[i]].normal[1])</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;            ||</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;            !pcl_isfinite (normals_-&gt;points[(*indices_)[i]].normal[2]))</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        normal_centroid += normals_-&gt;points[(*indices_)[i]].getNormalVector4fMap ();</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        cp++;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      }</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    normal_centroid /= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (cp);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="comment">// Compute the direction of view from the viewpoint to the centroid</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  Eigen::Vector4f viewpoint (vpx_, vpy_, vpz_, 0);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  Eigen::Vector4f d_vp_p = viewpoint - xyz_centroid;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  d_vp_p.normalize ();</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  <span class="comment">// Estimate the SPFH at nn_indices[0] using the entire cloud</span></div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  computePointSPFHSignature (xyz_centroid, normal_centroid, *surface_, *normals_, *indices_);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="comment">// We only output _1_ signature</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (1);</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = 1;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <span class="comment">// Estimate the FPFH at nn_indices[0] using the entire cloud and copy the resultant signature</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; hist_f1_.size (); ++d)</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[d + 0] = hist_f1_[d];</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="keywordtype">size_t</span> data_size = hist_f1_.size ();</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; hist_f2_.size (); ++d)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[d + data_size] = hist_f2_[d];</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  data_size += hist_f2_.size ();</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; hist_f3_.size (); ++d)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[d + data_size] = hist_f3_[d];</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  data_size += hist_f3_.size ();</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; hist_f4_.size (); ++d)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[d + data_size] = hist_f4_[d];</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="comment">// ---[ Step 2 : obtain the viewpoint component</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  hist_vp_.setZero (nr_bins_vp_);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keywordtype">double</span> hist_incr;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="keywordflow">if</span> (normalize_bins_)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    hist_incr = 100.0 / <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    hist_incr = 1.0;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices_-&gt;size (); ++i)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    Eigen::Vector4f normal (normals_-&gt;points[(*indices_)[i]].normal[0],</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;                            normals_-&gt;points[(*indices_)[i]].normal[1],</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;                            normals_-&gt;points[(*indices_)[i]].normal[2], 0);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <span class="comment">// Normalize</span></div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="keywordtype">double</span> alpha = (normal.dot (d_vp_p) + 1.0) * 0.5;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    <span class="keywordtype">int</span> fi = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floor (alpha * <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (hist_vp_.size ())));</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    <span class="keywordflow">if</span> (fi &lt; 0)</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      fi = 0;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;    <span class="keywordflow">if</span> (fi &gt; (<span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (hist_vp_.size ()) - 1))</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      fi = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (hist_vp_.size ()) - 1;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    <span class="comment">// Bin into the histogram</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    hist_vp_ [fi] += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (hist_incr);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  data_size += hist_f4_.size ();</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="comment">// Copy the resultant signature</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d = 0; d &lt; hist_vp_.size (); ++d)</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[0].histogram[d + data_size] = hist_vp_[d];</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;}</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_VFHEstimation(T,NT,OutT) template class PCL_EXPORTS pcl::VFHEstimation&lt;T,NT,OutT&gt;;</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_FEATURES_IMPL_VFH_H_</span></div>
<div class="ttc" id="acentroid_8h_html"><div class="ttname"><a href="centroid_8h.html">centroid.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a8ad7f79ee618d1a6f9bca5d579c36130"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a8ad7f79ee618d1a6f9bca5d579c36130">pcl::VFHEstimation::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Overloaded computed method from pcl::Feature.</div><div class="ttdef"><b>Definition:</b> vfh.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_a9603ed59b5af7e7f7750e8a96ac21563"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#a9603ed59b5af7e7f7750e8a96ac21563">pcl::VFHEstimation::computePointSPFHSignature</a></div><div class="ttdeci">void computePointSPFHSignature(const Eigen::Vector4f &amp;centroid_p, const Eigen::Vector4f &amp;centroid_n, const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, const pcl::PointCloud&lt; PointNT &gt; &amp;normals, const std::vector&lt; int &gt; &amp;indices)</div><div class="ttdoc">Estimate the SPFH (Simple Point Feature Histograms) signatures of the angular (f1,...</div><div class="ttdef"><b>Definition:</b> vfh.hpp:92</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_ab0fd0c13700be5da8e25fd4291dc8009"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#ab0fd0c13700be5da8e25fd4291dc8009">pcl::VFHEstimation::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">This method should get called before starting the actual computation.</div><div class="ttdef"><b>Definition:</b> vfh.hpp:51</div></div>
<div class="ttc" id="aclasspcl_1_1_v_f_h_estimation_html_aed492d159e745303356149a340d9057f"><div class="ttname"><a href="classpcl_1_1_v_f_h_estimation.html#aed492d159e745303356149a340d9057f">pcl::VFHEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the Viewpoint Feature Histograms (VFH) descriptors at a set of points given by &lt;setInputClou...</div><div class="ttdef"><b>Definition:</b> vfh.hpp:182</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
<div class="ttc" id="agroup__common_html_ga1583a71aef0f54550adef0ebfef89edd"><div class="ttname"><a href="group__common.html#ga1583a71aef0f54550adef0ebfef89edd">pcl::getMaxDistance</a></div><div class="ttdeci">void getMaxDistance(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const Eigen::Vector4f &amp;pivot_pt, Eigen::Vector4f &amp;max_pt)</div><div class="ttdoc">Get the point at maximum distance from a given point and a given pointcloud</div><div class="ttdef"><b>Definition:</b> common.hpp:130</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
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